JPH0527268Y2 - - Google Patents

Description

[Detailed description of the invention] (Industrial application field) This invention assembles multiple types of panel parts by connecting multiple parts to each other, and then connects these panel parts to each other to assemble the panel. The present invention relates to a panel assembly device suitable for use in various cases.

(Prior Art) When assembling a panel as described above, for example, a front side panel of an automobile body is assembled.
There are cases where an outer panel and an inner panel, each consisting of a plurality of workpieces, are combined and assembled, and in such a case, conventionally, as shown in FIG. A positioning jig 3 for assembling the outer panel 2 is provided within the work range indicated by the dashed line in the figure, and another positioning jig 5 for assembling the inner panel 4 is provided outside the work range of the robot 1. do. First, the worker 6 sets the outer panel upper and lower parts 2a and 2b as workpieces on the positioning jig 3, and sets the inner panel upper and lower parts 4a and 4b as the workpieces on another positioning jig 5. and then
While the robot 1 is operating and assembling the outer panel 2 as a panel component by spot-welding the outer panel upper and lower parts 2a and 2b, the worker 6 is assembling the inner panel upper and lower parts 4a and 4b. The inner panel 4 as a panel component is assembled by joining with a portable spot welding gun (not shown), and then the inner panel 4 assembled by the worker 6 is moved to the positioning jig 3 as shown by the arrow in the figure. It is transported and placed at a predetermined position on the assembled outer panel 2, and further,
The front side panel was assembled by the robot 1 joining the outer panel 2 and inner panel 4 by spot welding.

(Problem to be solved by the invention) However, when assembling panels in the process described above, the robot 1 finishes assembling the outer panel 2 before the worker 6 finishes assembling the inner panel 4, and the robot 1 enters the standby state. Furthermore, the robot 1 cannot be operated until the operator 6 transports the inner panel 4 to the outer panel 2, combines it, and moves out of the working range of the robot 1. There was a problem that the operating rate of the robot 1 could not be sufficiently increased.

Note that if the only purpose is to increase the operating rate of the robot 1, the operator may move the positioning jig 5 used for welding work within the working range of the robot 1 in order to have the robot 1 also assemble the inner panel 4. It is also possible to arrange them side by side on a plane, but if you do this, the robot 1, after assembling the outer panel 2 on the positioning jig 3, will go to assemble the inner panel 4 on the positioning jig 5 at a distant location. ,
Since the assembled inner panel 4 has to be conveyed onto the positioning jig 3 and assembled with the outer panel 2, there is a problem that the moving distance of the robot 1 becomes long and the working time increases.

In addition, as mentioned above, two positioning jigs 4 and 5 are used.
If these were arranged side by side in a plane within the working range of the robot 1, there was a problem in that the installation space would be bulky and the space efficiency would be poor.

This invention provides a device that advantageously solves these problems.

(Means for Solving the Problems) The panel assembly apparatus of this invention has a coupling means and a holding means, and each unit performs the work of assembling a plurality of panel parts by mutually coupling a plurality of workpieces, and a robot that performs the work of combining a plurality of panel parts and the work of assembling a panel by interconnecting the combined panel parts; a plurality of work positioning jigs for positioning the plurality of workpieces at predetermined positions for assembly; and a plurality of workpiece positioning jigs for positioning the plurality of panel parts at predetermined relative positions for assembling the panels, each of which is located within a working range of the robot. a panel component positioning jig for positioning the plurality of workpieces, the plurality of workpiece positioning jigs comprising:
On a common jig base, the panel parts made up of the workpieces positioned by the workpieces are each fixed in an arrangement such that they are overlapped in the vertical direction with a space between them, and at least one of the plurality of workpiece positioning jigs It is characterized in that it also serves as a component positioning jig.

(Function) In the above device, if a plurality of workpieces are set on each of the plurality of workpiece positioning jigs and then the robot is operated, the robot will move the workpieces set on each of the workpiece positioning jigs. are connected to each other by a connecting means to assemble a plurality of panel parts, and then the assembled panel parts are held by a holding means and transported to a predetermined position of a workpiece positioning jig that also serves as a panel parts positioning jig for assembly. The assembled and positioned panel parts are then joined together by means of a joining means to assemble the panel.

Therefore, according to this device, the robot can be operated continuously after the workpiece is supplied onto the workpiece positioning jig until the panel is assembled, so that the operating rate of the robot can be greatly increased.

Further, according to this device, a plurality of workpiece positioning jigs are each fixed on a common jig base in an arrangement such that the panel parts comprising the workpieces positioned by the workpieces are overlapped in the vertical direction with a space between them. Moreover, since at least one of these workpiece positioning jigs overlaps the panel component positioning jig, and a separate panel component positioning jig is not required, the placement space of the positioning jig and the space occupied by the entire panel assembly equipment can be saved. Not only can the robot be made compact, but the moving distance of the robot can be shortened, and work efficiency can be improved by shortening work time.

According to this device, a plurality of workpiece positioning jigs are each fixed on a common jig base and located within the working range of the robot, and at least one of the workpiece positioning jigs is a panel component. Since it also serves as a positioning jig, there is no need to use a portable positioning jig at all, and therefore, restrictions on the configuration of positioning jig, which generally requires piping to the clamp mechanism, wiring to the sensor, etc., can be reduced. It is also possible to simplify its configuration.

(Example) Hereinafter, an example of this invention will be described in detail based on the drawings.

FIG. 1 is a front view showing an embodiment of the panel assembly apparatus of this invention, and numeral 11 in the figure indicates a robot.

This robot 11 rotates its body 11a in the direction shown by arrow a in the figure, swings its upper arm 11b in the direction shown by arrow b, and swings its forearm 11c in the direction shown by arrow c. Forearm 11 in the direction indicated by arrow d
c and the wrist portion 11d in the direction shown by arrow e.
It is an articulated type with six degrees of freedom, including the swinging of the wrist part 11d and the rotation of the wrist part 11d in the direction shown by the arrow f. It operates within the working range shown by the dashed line, and here, a spot welding gun 13 as a coupling means is attached to the wrist portion 11d of the robot 11 via a bracket 12.
A clamp device 14 as a holding means is fixed. Here, the spot welding gun 13 is operated by the operation of the air cylinder 13a, so that one of the welding electrodes 13b is
moving forward and backward toward the other welding electrode 13c,
The work can be held between these electrodes,
If both electrodes 13b and 13c are energized in this state,
Spot welding can be performed on workpieces. Further, the clamp device 14 can open and close two clamp arms 14b, 14c by operating the air cylinder 14a, and can hold a workpiece between the clamp arms 14b, 14c.

Reference numeral 15 in the figure indicates a jig base installed within the working range of the robot 11, and here, on this jig base 15, a front side panel of an automobile body similar to that shown in FIG. 3 is constructed. Two workpiece positioning jigs 1 for assembling the outer panel 2 and inner panel 4 as panel parts
6, 17 will be erected.

The workpiece positioning jig 16 here includes six gauge plates 16a to 16f in the figure, whose gauge parts fit into the outer panel upper part 2a and the outer panel lower part 2b as the workpieces and position them at predetermined positions, respectively. If the outer panel upper and lower parts 2a and 2b are placed on the gauge plates 16a to 16f, the outer panel upper and lower parts 2a and 2b are overlapped at the overlapping part 2c at one end of each. Can be matched.

This workpiece positioning jig 16 also serves as a panel component positioning jig, and when the assembled inner panel 4 is placed on the outer panel 2 placed thereon with approximately aligned positions, the gauge plates 16a to
The inner panel 4 can be positioned at a predetermined assembly position with respect to the outer panel 2 by the guide 16f.

On the other hand, the workpiece positioning jig 17 has four gauge plates 17a to 17d in the figure, whose gauge parts fit into the inner panel upper part 4a and the inner panel lower part 4b as workpieces, and position them at predetermined positions, respectively. , is equipped with a locating pin and a clamp device (not shown), and the gauge plate 1
Inner panel upper and lower parts 4 on 7a to 17d
By placing the upper and lower inner panels 4a and 4b, the upper and lower inner panels 4a and 4b can be overlapped at the overlapping portion 4c at one end of each inner panel. Here, the gauge plates 17a to 17d of the workpiece positioning jig 17 are
, avoid interference between the upper and lower parts of the inner panel 4a and 4b, and connect the upper and lower parts of the outer panel to the upper and lower parts 2a and 2.
The gauge portions of the workpiece positioning jig 16 are formed to be sufficiently higher than the gauge portions of the gauge plates of the workpiece positioning jig 16 so that the gauge plates 17a to 17d can be held at a higher position than the inner panel 4. Gauge plate 16 is placed so that it intersects outer panel 2 at a position that does not interfere with welding work above it.
It is arranged to intersect with a to 16f.

FIG. 3 is a flowchart showing the procedure for assembling a front side panel of an automobile body using the panel assembly apparatus configured as described above. As shown in the figure and FIG.
a, 2b, and place the upper and lower inner panels 4a, 4a, 4b on the workpiece positioning jig 17.
Set 4b.

In the following step 22, the operator starts the robot 11 after going out of the working range of the robot 11, which is shown by the dashed line in the figure, operates the robot 11 according to the procedure taught in advance, and uses the spot welding gun 13. , spot welding of the outer panel overlapping portion 2c and spot welding of the inner panel overlapping portion 4c is carried out.
The outer panel 2 and inner panel 4 are assembled respectively.

Then, in the next step 23, the subsequent actuation of the robot 11 causes its clamping device 14 to move the first
Holding the inner panel 4 as shown by the imaginary line in the figure,
After lifting the inner panel 4 from above the positioning jig 17, it is roughly aligned vertically with the outer panel 2 on the workpiece positioning jig 16, and then lowered and placed on the outer panel 2. Then, the outer panel 2 and the inner panel 4 are assembled at a predetermined position by the guiding action of the workpiece positioning jig 16 as the aforementioned panel component positioning jig.

In step 24, the peripheral flanges of the outer panel 2 and the inner panel 4 assembled as described above are spot welded using the spot welding gun 13 by further operation of the robot 11, whereby the outer panel 2 and the inner panel 4 are combined to assemble the front side panel.

Thereafter, in step 25, the operation of the robot 11 is stopped, and then the operator carries out the assembled front side panel from the workpiece positioning jig 16.

As described above, according to the panel assembly apparatus of this invention, the outer panel upper and lower parts 2a, 2b
The outer panel 2 can be assembled from the inner panel 2, the inner panel 4 can be assembled from the inner panel upper and lower parts 4a and 4b, and the front side panel can be assembled from the outer panel 2 and the inner panel 4.

Moreover, according to this device, the outer panel upper and lower parts 2a, 2b and the inner panel upper and lower parts 4a, 4b
After the robot 11 is supplied onto the workpiece positioning jigs 16 and 17, the robot 11 can be operated continuously until the front side panel is assembled from the workpieces, so the operating rate of the robot 11 can be greatly increased. can.

In the apparatus of the above example, two workpiece positioning jigs 16 and 17 are mounted on one jig base 15.
Since they are intersected and arranged three-dimensionally, the floor area occupied by the jig base 15 and the working range of the robot 11 can be narrowed down, thereby increasing space efficiency and work efficiency. .

Furthermore, in the apparatus of the above example, the workpiece positioning jigs 16 and 17 are each fixed on the common jig base 15, and only the assembled inner panel 4 is transported by the robot 11, so that the workpiece positioning jigs 16 and 17 can be moved There is no need to use a jig at all, and therefore, constraints on the structure of a workpiece positioning jig, which generally requires piping to a clamp mechanism, wiring to a sensor, etc., can be reduced and the structure can be simplified. .

Although the above explanation is based on the illustrated example, the invention is not limited to this. For example, the robot may be of an orthogonal coordinate type or a polar coordinate type, the connecting means may be a screw tightening device, or the holding means may be a magnetic or vacuum suction device.
It goes without saying that this invention can be applied to the assembly of panels other than the front side panel described above.

(Effects of the invention) Thus, according to the device of this invention, the robot can be operated continuously after the workpiece is fed onto the positioning jig until the panel is assembled, thereby greatly increasing the operating rate of the robot. I can do it.

In addition, according to the device of this invention, the space occupied by the positioning jig and the entire panel assembly device can be made compact, and the moving distance of the robot can be shortened, which improves work efficiency by shortening the work time. Furthermore, it is possible to reduce restrictions on the configuration of the positioning jig and to simplify its configuration.

[Brief explanation of the drawing]

Fig. 1 is a front view showing an embodiment of the panel assembly device of this invention, Fig. 2 is a plan view of the device of the above example, and Fig. 3 is a procedure for assembling a front side panel using the device of the above example. FIG. 4 is a plan view showing conventional panel assembly equipment. 2... Outer panel, 2a... Upper outer panel, 2b... Lower outer panel, 2c, 4c...
Overlapping portion, 4... Inner panel, 4a... Upper inner panel, 4b... Lower inner panel, 1
1... Robot, 13... Spot welding gun, 1
4... Clamp device, 15... Jig base, 1
6, 17...Work positioning jig.

Claims (1)

[Claims for Utility Model Registration] It has a coupling means 13 and a holding means 14, and includes the work of assembling a plurality of panel parts 2, 4 by mutually coupling a plurality of workpieces 2a, 2b, 4a, 4b, and the assembly. A robot 1 that performs the work of combining the plurality of panel parts, and the work of assembling a panel by mutually connecting the combined panel parts.
1, each located within the working range of the robot,
a plurality of work positioning jigs 16 and 17 for positioning the plurality of workpieces at predetermined positions for assembling the plurality of panel parts, respectively; A panel assembly device comprising: a panel component positioning jig for positioning a plurality of panel components at predetermined relative positions; the plurality of workpiece positioning jigs 16, 17;
The panel components 2 and 4 comprising the workpieces positioned by them are each fixed on a common jig base 15 in such a manner that they overlap vertically with a space between them, and at least one of the plurality of workpiece positioning jigs is fixed to the common jig base 15. A panel assembly apparatus, characterized in that the holder 16 also serves as the panel component positioning jig.